FR3059272B1 - GYROPOD VEHICLE - Google Patents
GYROPOD VEHICLE Download PDFInfo
- Publication number
- FR3059272B1 FR3059272B1 FR1661552A FR1661552A FR3059272B1 FR 3059272 B1 FR3059272 B1 FR 3059272B1 FR 1661552 A FR1661552 A FR 1661552A FR 1661552 A FR1661552 A FR 1661552A FR 3059272 B1 FR3059272 B1 FR 3059272B1
- Authority
- FR
- France
- Prior art keywords
- support
- frame
- gyropod
- gravity
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005484 gravity Effects 0.000 abstract 3
- 238000006073 displacement reaction Methods 0.000 abstract 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/043—Mid wheel drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/42—Electric actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/24—Wheelchairs
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
L'invention se rapporte à un véhicule (10) motorisé comprenant : • un gyropode (11), • un support (20) superposé au châssis (12) du gyropode et destiné à transporter des charges, le support étant mobile en translation par rapport au châssis (12) selon la direction longitudinale, • un premier actionneur (21) permettant de déplacer le support par rapport au châssis (12) selon la direction principale de déplacement du véhicule, • plusieurs capteurs de forces (24 à 27) disposés entre le châssis (12) et le support, chaque capteur (24 à 27) délivrant une information relative à une force verticale que le support exerce sur le châssis (12), • et un module de pilotage (30) recevant les informations provenant des capteurs de forces (24 à 27), le module de pilotage (30) étant configuré pour déterminer une position du centre de gravité du support (20) le long de la direction longitudinale et pour commander le premier actionneur (21) en fonction du déplacement du centre de gravité du support de façon à asservir la position de la projection du centre de gravité du support sur une position où le gyropode (11) est stable.The invention relates to a motorized vehicle (10) comprising: • a gyropod (11), • a support (20) superimposed on the frame (12) of the gyropod and intended to transport loads, the support being movable in translation with respect to to the frame (12) in the longitudinal direction, • a first actuator (21) making it possible to move the support relative to the frame (12) in the main direction of movement of the vehicle, • several force sensors (24 to 27) arranged between the frame (12) and the support, each sensor (24 to 27) delivering information relating to a vertical force that the support exerts on the frame (12), • and a control module (30) receiving information from the sensors of forces (24 to 27), the control module (30) being configured to determine a position of the center of gravity of the support (20) along the longitudinal direction and to control the first actuator (21) according to the displacement t of the center of gravity of the support so as to control the position of the projection of the center of gravity of the support to a position where the gyropod (11) is stable.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1661552A FR3059272B1 (en) | 2016-11-28 | 2016-11-28 | GYROPOD VEHICLE |
PCT/EP2017/080681 WO2018096175A1 (en) | 2016-11-28 | 2017-11-28 | Vehicle with self-balancing scooter |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1661552 | 2016-11-28 | ||
FR1661552A FR3059272B1 (en) | 2016-11-28 | 2016-11-28 | GYROPOD VEHICLE |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3059272A1 FR3059272A1 (en) | 2018-06-01 |
FR3059272B1 true FR3059272B1 (en) | 2020-11-13 |
Family
ID=58054260
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1661552A Active FR3059272B1 (en) | 2016-11-28 | 2016-11-28 | GYROPOD VEHICLE |
Country Status (2)
Country | Link |
---|---|
FR (1) | FR3059272B1 (en) |
WO (1) | WO2018096175A1 (en) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109606246B (en) * | 2019-01-30 | 2023-07-07 | 中国矿业大学 | Dynamic balance hydraulic chassis for semi-fluid transport container and control method |
CN111976862B (en) * | 2019-05-21 | 2022-12-02 | 北京京东乾石科技有限公司 | Logistics distribution equipment |
FR3101842B1 (en) * | 2019-10-15 | 2021-11-12 | Marc Rodallec | Easily assembled and controllable hand truck-type load transport device |
FR3103128B1 (en) * | 2019-11-19 | 2022-07-29 | Meropy | Autonomous robot |
FR3116792B1 (en) | 2020-11-30 | 2022-11-04 | Univ Versailles Saint Quentin En Yvelines | Aid for moving a load |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2007129505A1 (en) * | 2006-05-09 | 2007-11-15 | Equos Research Co., Ltd. | Vehicle, characteristic value estimating device, and loaded article determination device |
JP5018039B2 (en) * | 2006-11-24 | 2012-09-05 | 株式会社エクォス・リサーチ | vehicle |
JP4506776B2 (en) * | 2007-04-05 | 2010-07-21 | トヨタ自動車株式会社 | Traveling device |
US8170780B2 (en) * | 2008-11-06 | 2012-05-01 | Segway, Inc. | Apparatus and method for control of a vehicle |
WO2010109466A1 (en) * | 2009-03-24 | 2010-09-30 | Galileo Mobility Instruments Ltd. | Wheelchair |
FR3023160B1 (en) * | 2014-07-04 | 2021-06-11 | Univ Versailles Saint Quentin En Yvelines | ARTICULATED ARMCHAIR INCLUDING A VERTICALIZATION MECHANISM FOR A WHEEL VEHICLE. |
-
2016
- 2016-11-28 FR FR1661552A patent/FR3059272B1/en active Active
-
2017
- 2017-11-28 WO PCT/EP2017/080681 patent/WO2018096175A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2018096175A1 (en) | 2018-05-31 |
FR3059272A1 (en) | 2018-06-01 |
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Legal Events
Date | Code | Title | Description |
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PLFP | Fee payment |
Year of fee payment: 2 |
|
PLSC | Publication of the preliminary search report |
Effective date: 20180601 |
|
PLFP | Fee payment |
Year of fee payment: 3 |
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PLFP | Fee payment |
Year of fee payment: 4 |
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PLFP | Fee payment |
Year of fee payment: 5 |
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CL | Concession to grant licences |
Name of requester: GYROLIFT, FR Effective date: 20201215 |
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PLFP | Fee payment |
Year of fee payment: 6 |
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PLFP | Fee payment |
Year of fee payment: 7 |
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PLFP | Fee payment |
Year of fee payment: 8 |